CN208653434U - A kind of indexing single-line type spatial position measuring device - Google Patents
A kind of indexing single-line type spatial position measuring device Download PDFInfo
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- CN208653434U CN208653434U CN201821617280.0U CN201821617280U CN208653434U CN 208653434 U CN208653434 U CN 208653434U CN 201821617280 U CN201821617280 U CN 201821617280U CN 208653434 U CN208653434 U CN 208653434U
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- spatial position
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- position measuring
- indexing
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Abstract
The utility model relates to index single-line type spatial position measuring device, it is based on single stay wire displacement sensor, it is rotated by indexing and realizes that the three-dimensional static of spatial position or dynamic measure, occupied space is smaller, cost is cheaper, and structure is simple, easy for installation, suitable for industry spot, operating environment is required lower；The problem of solving the measurement of existing space position, multiple stay wire displacement sensor cooperations needed to complete.
Description
Technical field
The utility model belongs to a kind of spatial position measuring technical field, especially a kind of to be passed based on high-precision bracing wire displacement
The indexing single-line type spatial position measuring device of sensor.
Background technique
Common space measurement instrument has three-coordinates measuring machine, laser traces instrument etc..Three-coordinates measuring machine is with accurate machine
High efficiency, high-precision measuring device based on tool, but occupied space is big, at high cost；Likewise, laser traces instrument precision
It is high, measurement range is wide, using also relatively convenient, but the price is very expensive, and dynamic measurement process limits speed, holds
Easily there is a phenomenon where the light that breaks.In contrast, stay wire displacement sensor is to have both high-precision, low cost simultaneously, operate convenient, installation
Simply, the measuring device for the advantages that measurement range is wide.
The research for stay wire displacement sensor for spatial position measuring gradually increases at present, and most well-known is
The CompuGauge four-wire type spatial measurement system that Dynalog company releases, may be implemented to robot absolute fix precision and
The Three-Dimensional Dynamic of repetitive positioning accuracy measures.The country also in succession copies this device, can be summarized as three-wire type and four lines
Formula bracing wire measuring mechanism.Due to the requirement of measurement accuracy, multiple wire system measuring device volume is relatively large, and needs multiple bracing wire positions
Displacement sensor increases cost to a certain extent.Therefore, the indexing bracing wire measuring machine based on single stay wire displacement sensor
Structure has lower cost and occupies smaller operating space.
Summary of the invention
The utility model is intended to provide a kind of indexing single-line type spatial position measuring device, to solve the survey of existing space position
Amount needs multiple stay wire displacement sensors to cooperate the problem of completing.
Concrete scheme is as follows: a kind of indexing single-line type spatial position measuring device comprising what is be fixedly installed respectively consolidates
Determine chassis and universal rotational pair, and the rotation installation chassis including can be movably installed in pivoting on the fixed underpan；
The rotation installation chassis is equipped with angle pulley mounting base and stay wire displacement sensor；The angle pulley mounting base
With the swinging axle perpendicular to rotation installation chassis rotation axis, which is set to the swinging axle with being able to rotate by bearing
On；The drawstring of the stay wire displacement sensor, around being connected to after the angle pulley in the universal rotational pair.
The further technical solution of the utility model are as follows: the fixed underpan passes through indexing mechanism phase with the rotation installation chassis
To fixation.
The further technical solution of the utility model are as follows: it is set on the fixed underpan there are three the V-type groove for being mutually 120 °, it should
Rotation installation chassis is equipped with the sphere being adapted to the V-type groove, which is adapted to form the dividing engine with the V-type groove
Structure.
The further technical solution of the utility model are as follows: the rotation installation chassis has a discoid main part and one
It is connected on the main part and outwardly extending mounting rod；The stay wire displacement sensor is set on the main part, pulley installation
Seat is set to the free end of the mounting rod.
The further technical solution of the utility model are as follows: the universal rotational pair has for being fixed at testee
The first revolute pair and the second revolute pair for being connected in first revolute pair；The axis of first revolute pair and the second revolute pair
Line is orthogonal.
The utility model has the advantages that the indexing single-line type spatial position measuring device of the utility model, is passed based on single bracing wire displacement
Sensor is rotated by indexing and realizes that the three-dimensional static of spatial position or dynamic measure, and occupied space is smaller, and cost is cheaper,
And structure is simple, and it is easy for installation, it is suitable for industry spot, operating environment is required lower；Solve the measurement of existing space position,
The problem of needing multiple stay wire displacement sensor cooperations to complete.
Detailed description of the invention
Fig. 1 shows the utility model indexing single-line type spatial position measuring apparatus structure schematic diagram；
Fig. 2 shows Fig. 1 to index single-line type spatial position measuring device firm banking structural schematic diagram；
Fig. 3 shows Fig. 1 indexing single-line type spatial position measuring device universal rotational auxiliary structure schematic diagram；
Fig. 4 shows the schematic diagram of the utility model indexing single-line type spatial position measuring device.
Specific embodiment
To further illustrate each embodiment, the utility model is provided with attached drawing.These attached drawings are in the utility model discloses
A part of appearance mainly to illustrate embodiment, and can cooperate the associated description of specification former come the running for explaining embodiment
Reason.Cooperation refers to these contents, and those of ordinary skill in the art will be understood that other possible embodiments and sheet are practical new
The advantages of type.Component in figure is not necessarily to scale, and similar component symbol is conventionally used to indicate similar component.
Now in conjunction with the drawings and specific embodiments, the present invention will be further described.
As shown in connection with fig. 1, this embodiment offers a kind of indexing single-line type spatial position measuring devices comprising is distinguished
The fixed underpan 1 and universal rotational pair 4 of fixed setting, the fixed underpan 1 are fixedly installed on the level where coordinate origin
On face, i.e., the face XOY, the universal rotational pair 4 are fixedly installed on object to be measured.
On the fixed underpan 1, it is additionally provided with rotation installation chassis 3, which can turn around vertical axes, i.e. z axis
It is dynamic, to be movably arranged in the fixed underpan 1.
The rotation installation chassis 3 is equipped with angle pulley mounting base 6 and stay wire displacement sensor 2；Angle pulley peace
It is movably installed with the swinging axle 7 perpendicular to rotation 3 rotation axis of installation chassis to dress seat 6, and then, which passes through an axis
It holds and to be able to rotate is set on the swinging axle 7, swung with realizing the own rotation of angle pulley 8 and being deviated around swinging axle 7；And
Afterwards, the datum mark of the stay wire displacement sensor 2 is set to the center of rotation position of the rotation installation chassis 3, and bracing wire displacement passes
The drawstring 5 of sensor 2, around being connected in the universal rotational pair 4 after the angle pulley 8.
To realize high-precision multipoint positioning, the fixed underpan 1 and the rotation installation chassis 3 pass through the dividing engine of three indexing
Structure is relatively fixed, specific:
As shown in connection with fig. 2,120 ° of V-type groove 11 is mutually there are three setting on the fixed underpan 1, corresponding, rotation peace
Cartridge chassis 3 is equipped with the sphere that is adapted to the V-type groove 11, it is preferred that the sphere also there are three, 120 ° of circumference uniform distributions, into
And the sphere is adapted to the V-type groove 11 to form the indexing mechanism；Engagement sequence by changing V-groove and sphere can be realized
Rotate the variation of installation chassis and fixed underpan relative position.And for it will be appreciated by one skilled in the art that logical
It crosses other modes (such as bearing and positioning pin) and realizes that the variation of the two relative position is also within the protection scope of the present utility model.
For the measurement for realizing higher precision, which is connected to a discoid main part and one
On the main part and outwardly extending mounting rod, the two sides of the mounting rod are equipped with reinforcing rib；Then, the stay wire displacement sensor 2
On the main part, which is set to the free end of the mounting rod, to realize the biggish installation of angle pulley 8
Distance is to improve measurement accuracy.
In this embodiment, as shown in connection with fig. 3, universal rotational pair 4 has for being fixed on testee
First revolute pair 41 and the second revolute pair 42 being connected in first revolute pair 41；First revolute pair 41 and the second rotation
The axis of pair 42 is orthogonal, and the medium position of second revolute pair 42 is additionally provided with drawstring fixing bolt 421, to draw for fixed
Rope 5.The universal rotational pair 4 by one around central axis revolute pair and an axis and the axis perpendicular of revolute pair it is another
One revolute pair composition makes the extended line of bracing wire cross the intersection point of two revolute pair axis always under the action of two revolute pairs.
In conjunction with the mathematical principle that shown in Fig. 4, which is solved are as follows: static measurement is directed to, according to the three of acquisition
Group bracing wire measures length value li(i=1,2,3) the spatial position coordinate P of two rotation axis intersection point of bracing wire adapter revolute pair is acquired
(x,y,z)。
Assuming that intersection point P is d at a distance from bracing wire tie point, angle pulley radius is r, and bracing wire is respectively with pulley incision inferius
Ai(i=1,2,3), is respectively B with pulley incision superiusi(i=1,2,3), measurement coordinate origin are located at equilateral triangle plane
A1A2A3Center O.Incision inferius AiIt is b with being at a distance from a, with the bracing wire initial position pull ring center of circle at a distance from coordinate origin.Then
Incision inferius AiCoordinate be respectively (a, 0,0), AiTo the bracing wire length of intersection point P
It can be calculated as Li=li+ d-b (i=1,2,3).If the pulley center of circle is respectively Ri(i=1,2,3), and provide that institute is angled counterclockwise
It is positive.
Incision inferius AiStraightway B can be divided into the bracing wire length of intersection point PiP and arc lengthThe sum of length.
Now by taking i=1 as an example, in right angle Δ R1B1In P, using Pythagorean theorem, bracing wire straightway B can be obtained1The length of P:
In formula, R1The length of P is in triangle R1It can be found out in OP
Wherein,
In formula,
Arc length of the bracing wire around deflecting rollerIt can be in the hope of using arc length formula:
∠ B is found out individually below1R1P、∠OR1A1With ∠ OR1P
In right angle Δ B1R1In P
In Δ OR1A1In
And in Δ OR1In P, it is divided into 0 < ∠ OR190 ° of P <, 90 °≤∠ OR1180 ° of P < and 180 °≤∠ OR1360 ° of P <
Three kinds of situations, when integrating three kinds of situations
Formula (5), (6), (7) are brought into the arc length that can be obtained bracing wire around deflecting roller in formula (4)
From fixed down point A1Straightway B is equal to the bracing wire total length between bracing wire terminal P1P and arc lengthThe sum of.
After abbreviation:
Wherein
Due to A1、A2、A33 120 ° of positions are symmetrical, similarly the length of other available two sections of bracing wires.The above are known
Point P (x, y, z) finds out bracing wire length Li(i=1,2,3) method.If known bracing wire length, the coordinate of location point P is solved, then
Problem develops into a ternary Nonlinear System of Equations.
L in formulai(i=1,2,3) is independent variable, and (x, y, z) is dependent variable, can be solved by iteratively solving Nonlinear System of Equations
The exact numerical solution of equation group out.
Dynamic position is measured, manipulation testee is moved according to track, is recorded one group of bracing wire and is measured length.Change rotation
Turn installation chassis placed angle, repeat teaching testee, and obtains other two groups of bracing wires measurement length.According to above-mentioned mathematics meter
The spatial position coordinate that calculation can acquire sampled point in target trajectory also can go out quilt by moving track calculation according to the sampling interval
Survey the velocity and acceleration of object.
Although specifically showing and describing the utility model in conjunction with preferred embodiment, those skilled in the art is answered
This is understood, in the spirit and scope for not departing from the utility model defined by the appended claims, in form and details
On the utility model can be made a variety of changes, be the protection scope of the utility model.
Claims (5)
1. a kind of indexing single-line type spatial position measuring device, it is characterised in that:
Including the fixed underpan being fixedly installed respectively and universal rotational pair, and including pivoting this can be movably installed in
Rotation installation chassis on fixed underpan；
The rotation installation chassis is equipped with angle pulley mounting base and stay wire displacement sensor；The angle pulley mounting base has
Perpendicular to the swinging axle of rotation installation chassis rotation axis, which is set on the swinging axle with being able to rotate by bearing；
The drawstring of the stay wire displacement sensor, around being connected to after the angle pulley in the universal rotational pair.
2. indexing single-line type spatial position measuring device according to claim 1, it is characterised in that: the fixed underpan with should
It is relatively fixed by indexing mechanism to rotate installation chassis.
3. indexing single-line type spatial position measuring device according to claim 2, it is characterised in that: set on the fixed underpan
There are three the V-type groove for being mutually 120 °, which is equipped with the sphere being adapted to the V-type groove, the sphere and the V
Type groove is adapted to form the indexing mechanism.
4. indexing single-line type spatial position measuring device according to claim 1, it is characterised in that: the rotation installation chassis
It is connected on the main part with a discoid main part and one and outwardly extending mounting rod；The stay wire displacement sensor
On the main part, which is set to the free end of the mounting rod.
5. indexing single-line type spatial position measuring device according to claim 1, it is characterised in that: universal rotational pair tool
The second revolute pair for having the first revolute pair for being fixed on testee and being connected in first revolute pair；It should
The axis of first revolute pair and the second revolute pair is orthogonal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821617280.0U CN208653434U (en) | 2018-09-30 | 2018-09-30 | A kind of indexing single-line type spatial position measuring device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821617280.0U CN208653434U (en) | 2018-09-30 | 2018-09-30 | A kind of indexing single-line type spatial position measuring device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109099873A (en) * | 2018-09-30 | 2018-12-28 | 成都睿乐达机器人科技有限公司 | A kind of indexing single-line type method for measuring spatial location and device |
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2018
- 2018-09-30 CN CN201821617280.0U patent/CN208653434U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109099873A (en) * | 2018-09-30 | 2018-12-28 | 成都睿乐达机器人科技有限公司 | A kind of indexing single-line type method for measuring spatial location and device |
| CN109099873B (en) * | 2018-09-30 | 2023-10-13 | 成都睿乐达机器人科技有限公司 | Indexing single-line type space position measurement method and device |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A single line space position measuring device Effective date of registration: 20210108 Granted publication date: 20190326 Pledgee: Bank of Chengdu science and technology branch of Limited by Share Ltd. Pledgor: CHENGDU RUILEDA ROBOT TECHNOLOGY Co.,Ltd. Registration number: Y2021980000204 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20220324 Granted publication date: 20190326 Pledgee: Bank of Chengdu science and technology branch of Limited by Share Ltd. Pledgor: CHENGDU RUILEDA ROBOT TECHNOLOGY Co.,Ltd. Registration number: Y2021980000204 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right |